| Head-navigated locomotion of a snake-like robot for its autonomous obstacle avoidance | |
Wu XD(吴小东); Ma SG(马书根)
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| Department | 机器人学研究室 |
| Conference Name | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 |
| Conference Date | October 18-22, 2010 |
| Conference Place | Taipei, Taiwan |
| Source Publication | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings |
| Publisher | IEEE Computer Society |
| Publication Place | Piscataway, NJ, USA |
| 2010 | |
| Pages | 401-406 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20110313602752 |
| WOS ID | WOS:000287672000135 |
| Contribution Rank | 2 |
| ISSN | 2153-0858 |
| ISBN | 978-1-4244-6675-7 |
| Abstract | Inspired from the natural motion of snakes, a head-navigated locomotion is proposed for snake-like robots in this paper. Different from the traditional serpentine motion, the head of the snake-like robot would always maintain its direction along the forward direction of the whole robot. By utilizing this particular characteristic, the obstacles in front of the undulatory motion could be detected conveniently by a distance sensor installed on the head module. Based on the analysis of the configuration of the snake-like robot in the head-navigated locomotion, CPG-based control is introduced for the control system. Two kinds of control strategies for the realization of the automatic obstacle avoidance are proposed. Both simulation and experiment have been carried out to verify the proposed motion pattern. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/20061 |
| Collection | 机器人学研究室 |
| Corresponding Author | Wu XD(吴小东) |
| Affiliation | 1.Department of Robotics, Ritsumeikan University, 525-8577 Shiga, Japan 2.Shenyang Institute of Automation, CAS, China |
| Recommended Citation GB/T 7714 | Wu XD,Ma SG. Head-navigated locomotion of a snake-like robot for its autonomous obstacle avoidance[C]. Piscataway, NJ, USA:IEEE Computer Society,2010:401-406. |
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| File Name/Size | DocType | Version | Access | License | ||
| Head-navigated locom（1191KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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